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   <div id="projectname">MRSL DecompUtil Library
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">An implementaion of convex decomposition over point cloud</div>
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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_75993fee8576b97e3d9a8476c1772d17.html">decomp_util</a></li>  </ul>
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<a href="decomp__base_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef DECOMP_BASE_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define DECOMP_BASE_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="ellipsoid_8h.html">decomp_geometry/ellipsoid.h</a>&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;decomp_geometry/polyhedron.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//#include &lt;decomp_geometry/geometry_utils.h&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> Dim&gt;</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classDecompBase.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="classDecompBase.html">DecompBase</a> {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classDecompBase.html#a4fdc315275a421b40a84aeffacab4a5a">   21</a></span>&#160;    <a class="code" href="classDecompBase.html#a4fdc315275a421b40a84aeffacab4a5a">DecompBase</a>() {}</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classDecompBase.html#a43a9d473dfbcdcc3a45d21917186663b">   28</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classDecompBase.html#a43a9d473dfbcdcc3a45d21917186663b">set_local_bbox</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a>&amp; bbox) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <a class="code" href="classDecompBase.html#a8af5e7a5c407102df57089253b35c44a">local_bbox_</a> = bbox;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    }</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classDecompBase.html#a53cb01307a94dc941f40f1234b676a3b">   33</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classDecompBase.html#a53cb01307a94dc941f40f1234b676a3b">set_obs</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf&lt;Dim&gt;</a> &amp;obs) {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      <span class="comment">// only consider points inside local bbox</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <a class="code" href="structPolyhedron.html">Polyhedron&lt;Dim&gt;</a> vs;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      add_local_bbox(vs);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <a class="code" href="classDecompBase.html#af3afcc5ba0baa24fa1a52a08138fb67b">obs_</a> = vs.<a class="code" href="structPolyhedron.html#ac91f6e4f56758d09dd36b139249ae566">points_inside</a>(obs);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    }</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classDecompBase.html#a617f05e12b3f8dbc3b67012f5edbc577">   41</a></span>&#160;    <a class="code" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDecompBase.html#a617f05e12b3f8dbc3b67012f5edbc577">get_obs</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classDecompBase.html#af3afcc5ba0baa24fa1a52a08138fb67b">obs_</a>; }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classDecompBase.html#afd3d14a14667f86456f60384df9d81fb">   44</a></span>&#160;    <a class="code" href="structEllipsoid.html">Ellipsoid&lt;Dim&gt;</a> <a class="code" href="classDecompBase.html#afd3d14a14667f86456f60384df9d81fb">get_ellipsoid</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classDecompBase.html#a58c41c590f6c92d9fa0886d4d735d7a1">ellipsoid_</a>; }</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classDecompBase.html#a2828493d375ef02f3711942f66f399d4">   47</a></span>&#160;    <a class="code" href="structPolyhedron.html">Polyhedron&lt;Dim&gt;</a> <a class="code" href="classDecompBase.html#a2828493d375ef02f3711942f66f399d4">get_polyhedron</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classDecompBase.html#a21a9039cefecfe2166dc5faf8ba86a68">polyhedron_</a>; }</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classDecompBase.html#a8075ef9c927b23309ca1a3d4144250e5">dilate</a>(<a class="code" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> radius = 0) = 0;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classDecompBase.html#a683f4c7d5b2cc03ac736f224e9cbca2c">   59</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classDecompBase.html#a683f4c7d5b2cc03ac736f224e9cbca2c">shrink</a>(<span class="keywordtype">double</span> shrink_distance) {}</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; <span class="keyword">protected</span>:</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> add_local_bbox(<a class="code" href="structPolyhedron.html">Polyhedron&lt;Dim&gt;</a> &amp;Vs) = 0;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">void</span> find_polyhedron() {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="comment">//**** find half-space</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <a class="code" href="structPolyhedron.html">Polyhedron&lt;Dim&gt;</a> Vs;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <a class="code" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf&lt;Dim&gt;</a> obs_remain = <a class="code" href="classDecompBase.html#af3afcc5ba0baa24fa1a52a08138fb67b">obs_</a>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keywordflow">while</span> (!obs_remain.empty()) {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">const</span> <span class="keyword">auto</span> v = <a class="code" href="classDecompBase.html#a58c41c590f6c92d9fa0886d4d735d7a1">ellipsoid_</a>.closest_hyperplane(obs_remain);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        Vs.<a class="code" href="structPolyhedron.html#a1efa5c7b822945d37c93a38667f8d04d">add</a>(v);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <a class="code" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf&lt;Dim&gt;</a> obs_tmp;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;it : obs_remain) {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <span class="keywordflow">if</span> (v.signed_dist(it) &lt; 0)</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            obs_tmp.push_back(it);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        obs_remain = obs_tmp;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="comment">/*</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">           std::cout &lt;&lt; &quot;a: &quot; &lt;&lt; a.transpose() &lt;&lt; std::endl;</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">           std::cout &lt;&lt; &quot;b: &quot; &lt;&lt; b &lt;&lt; std::endl;</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">           */</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <a class="code" href="classDecompBase.html#a21a9039cefecfe2166dc5faf8ba86a68">polyhedron_</a> = Vs;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classDecompBase.html#af3afcc5ba0baa24fa1a52a08138fb67b">   86</a></span>&#160;    <a class="code" href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classDecompBase.html#af3afcc5ba0baa24fa1a52a08138fb67b">obs_</a>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classDecompBase.html#a58c41c590f6c92d9fa0886d4d735d7a1">   89</a></span>&#160;    <a class="code" href="structEllipsoid.html">Ellipsoid&lt;Dim&gt;</a> <a class="code" href="classDecompBase.html#a58c41c590f6c92d9fa0886d4d735d7a1">ellipsoid_</a>;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classDecompBase.html#a21a9039cefecfe2166dc5faf8ba86a68">   91</a></span>&#160;    <a class="code" href="structPolyhedron.html">Polyhedron&lt;Dim&gt;</a> <a class="code" href="classDecompBase.html#a21a9039cefecfe2166dc5faf8ba86a68">polyhedron_</a>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classDecompBase.html#a8af5e7a5c407102df57089253b35c44a">   94</a></span>&#160;    <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> <a class="code" href="classDecompBase.html#a8af5e7a5c407102df57089253b35c44a">local_bbox_</a>{<a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;::Zero</a>()};</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;};</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="data__type_8h_html_a74599b2a677a5186ef71a2a690c6171d"><div class="ttname"><a href="data__type_8h.html#a74599b2a677a5186ef71a2a690c6171d">vec_Vecf</a></div><div class="ttdeci">vec_E&lt; Vecf&lt; N &gt;&gt; vec_Vecf</div><div class="ttdoc">Vector of Eigen 1D float vector. </div><div class="ttdef"><b>Definition:</b> data_type.h:69</div></div>
<div class="ttc" id="classDecompBase_html"><div class="ttname"><a href="classDecompBase.html">DecompBase</a></div><div class="ttdoc">Line Segment Class. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:18</div></div>
<div class="ttc" id="classDecompBase_html_a43a9d473dfbcdcc3a45d21917186663b"><div class="ttname"><a href="classDecompBase.html#a43a9d473dfbcdcc3a45d21917186663b">DecompBase::set_local_bbox</a></div><div class="ttdeci">void set_local_bbox(const Vecf&lt; Dim &gt; &amp;bbox)</div><div class="ttdoc">Adding local bounding box around line seg. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:28</div></div>
<div class="ttc" id="classDecompBase_html_a8af5e7a5c407102df57089253b35c44a"><div class="ttname"><a href="classDecompBase.html#a8af5e7a5c407102df57089253b35c44a">DecompBase::local_bbox_</a></div><div class="ttdeci">Vecf&lt; Dim &gt; local_bbox_</div><div class="ttdoc">Local bounding box along the line segment. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:94</div></div>
<div class="ttc" id="ellipsoid_8h_html"><div class="ttname"><a href="ellipsoid_8h.html">ellipsoid.h</a></div><div class="ttdoc">Ellipsoid class. </div></div>
<div class="ttc" id="classDecompBase_html_a617f05e12b3f8dbc3b67012f5edbc577"><div class="ttname"><a href="classDecompBase.html#a617f05e12b3f8dbc3b67012f5edbc577">DecompBase::get_obs</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; get_obs() const </div><div class="ttdoc">Get obstacel points. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:41</div></div>
<div class="ttc" id="classDecompBase_html_a53cb01307a94dc941f40f1234b676a3b"><div class="ttname"><a href="classDecompBase.html#a53cb01307a94dc941f40f1234b676a3b">DecompBase::set_obs</a></div><div class="ttdeci">void set_obs(const vec_Vecf&lt; Dim &gt; &amp;obs)</div><div class="ttdoc">Import obstacle points. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:33</div></div>
<div class="ttc" id="classDecompBase_html_a21a9039cefecfe2166dc5faf8ba86a68"><div class="ttname"><a href="classDecompBase.html#a21a9039cefecfe2166dc5faf8ba86a68">DecompBase::polyhedron_</a></div><div class="ttdeci">Polyhedron&lt; Dim &gt; polyhedron_</div><div class="ttdoc">Output polyhedron. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:91</div></div>
<div class="ttc" id="structPolyhedron_html"><div class="ttname"><a href="structPolyhedron.html">Polyhedron</a></div><div class="ttdoc">Polyhedron class. </div><div class="ttdef"><b>Definition:</b> polyhedron.h:41</div></div>
<div class="ttc" id="classDecompBase_html_afd3d14a14667f86456f60384df9d81fb"><div class="ttname"><a href="classDecompBase.html#afd3d14a14667f86456f60384df9d81fb">DecompBase::get_ellipsoid</a></div><div class="ttdeci">Ellipsoid&lt; Dim &gt; get_ellipsoid() const </div><div class="ttdoc">Get ellipsoid. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:44</div></div>
<div class="ttc" id="structEllipsoid_html"><div class="ttname"><a href="structEllipsoid.html">Ellipsoid</a></div><div class="ttdef"><b>Definition:</b> ellipsoid.h:14</div></div>
<div class="ttc" id="structPolyhedron_html_a1efa5c7b822945d37c93a38667f8d04d"><div class="ttname"><a href="structPolyhedron.html#a1efa5c7b822945d37c93a38667f8d04d">Polyhedron::add</a></div><div class="ttdeci">void add(const Hyperplane&lt; Dim &gt; &amp;v)</div><div class="ttdoc">Append Hyperplane. </div><div class="ttdef"><b>Definition:</b> polyhedron.h:49</div></div>
<div class="ttc" id="structPolyhedron_html_ac91f6e4f56758d09dd36b139249ae566"><div class="ttname"><a href="structPolyhedron.html#ac91f6e4f56758d09dd36b139249ae566">Polyhedron::points_inside</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; points_inside(const vec_Vecf&lt; Dim &gt; &amp;O) const </div><div class="ttdoc">Calculate points inside polyhedron, non-exclusive. </div><div class="ttdef"><b>Definition:</b> polyhedron.h:65</div></div>
<div class="ttc" id="classDecompBase_html_af3afcc5ba0baa24fa1a52a08138fb67b"><div class="ttname"><a href="classDecompBase.html#af3afcc5ba0baa24fa1a52a08138fb67b">DecompBase::obs_</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; obs_</div><div class="ttdoc">Obstacles, input. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:86</div></div>
<div class="ttc" id="classDecompBase_html_a4fdc315275a421b40a84aeffacab4a5a"><div class="ttname"><a href="classDecompBase.html#a4fdc315275a421b40a84aeffacab4a5a">DecompBase::DecompBase</a></div><div class="ttdeci">DecompBase()</div><div class="ttdoc">Null constructor. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:21</div></div>
<div class="ttc" id="data__type_8h_html_a7c99d9360fc6cac2762b786e2fb52266"><div class="ttname"><a href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a></div><div class="ttdeci">double decimal_t</div><div class="ttdoc">Rename the float type used in lib. </div><div class="ttdef"><b>Definition:</b> data_type.h:50</div></div>
<div class="ttc" id="classDecompBase_html_a683f4c7d5b2cc03ac736f224e9cbca2c"><div class="ttname"><a href="classDecompBase.html#a683f4c7d5b2cc03ac736f224e9cbca2c">DecompBase::shrink</a></div><div class="ttdeci">virtual void shrink(double shrink_distance)</div><div class="ttdoc">Shrink the polyhedron. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:59</div></div>
<div class="ttc" id="classDecompBase_html_a2828493d375ef02f3711942f66f399d4"><div class="ttname"><a href="classDecompBase.html#a2828493d375ef02f3711942f66f399d4">DecompBase::get_polyhedron</a></div><div class="ttdeci">Polyhedron&lt; Dim &gt; get_polyhedron() const </div><div class="ttdoc">Get polyhedron. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:47</div></div>
<div class="ttc" id="data__type_8h_html_a3a0c45655a5e009e56634ccde0c5c575"><div class="ttname"><a href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a></div><div class="ttdeci">Eigen::Matrix&lt; decimal_t, N, 1 &gt; Vecf</div><div class="ttdoc">Eigen 1D float vector. </div><div class="ttdef"><b>Definition:</b> data_type.h:57</div></div>
<div class="ttc" id="classDecompBase_html_a8075ef9c927b23309ca1a3d4144250e5"><div class="ttname"><a href="classDecompBase.html#a8075ef9c927b23309ca1a3d4144250e5">DecompBase::dilate</a></div><div class="ttdeci">virtual void dilate(decimal_t radius=0)=0</div><div class="ttdoc">Inflate the line segment. </div></div>
<div class="ttc" id="classDecompBase_html_a58c41c590f6c92d9fa0886d4d735d7a1"><div class="ttname"><a href="classDecompBase.html#a58c41c590f6c92d9fa0886d4d735d7a1">DecompBase::ellipsoid_</a></div><div class="ttdeci">Ellipsoid&lt; Dim &gt; ellipsoid_</div><div class="ttdoc">Output ellipsoid. </div><div class="ttdef"><b>Definition:</b> decomp_base.h:89</div></div>
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